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<div class="title">don.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">  * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">  *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">  *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">  *  Copyright (c) 2012, Yani Ioannou &lt;yani.ioannou@gmail.com&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">  *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">  *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">  *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">  *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">  *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">  *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">  *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">  *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_DON_IMPL_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_FILTERS_DON_IMPL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/features/don.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classpcl_1_1_difference_of_normals_estimation.html#a3743d5f97f956e213287633df3ec8adb">   44</a></span>&#160;<a class="code" href="classpcl_1_1_difference_of_normals_estimation.html#a3743d5f97f956e213287633df3ec8adb">pcl::DifferenceOfNormalsEstimation&lt;PointInT, PointNT, PointOutT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="comment">// Check if input normals are set</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordflow">if</span> (!input_normals_small_)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] No input dataset containing small support radius normals was given!\n&quot;</span>, getClassName().c_str ());</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a>();</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">if</span> (!input_normals_large_)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] No input dataset containing large support radius normals was given!\n&quot;</span>, getClassName().c_str ());</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a>();</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="comment">// Check if the size of normals is the same as the size of the surface</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">if</span> (input_normals_small_-&gt;points.size () != input_-&gt;points.size ())</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] &quot;</span>, getClassName().c_str ());</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;The number of points in the input dataset differs from &quot;</span>);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;the number of points in the dataset containing the small support radius normals!\n&quot;</span>);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a> ();</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">if</span> (input_normals_large_-&gt;points.size () != input_-&gt;points.size ())</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] &quot;</span>, getClassName().c_str ());</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;The number of points in the input dataset differs from &quot;</span>);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;the number of points in the dataset containing the large support radius normals!\n&quot;</span>);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a> ();</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_difference_of_normals_estimation.html#a0c22fd10ccd121777d3b331412e4e0da">   85</a></span>&#160;<a class="code" href="classpcl_1_1_difference_of_normals_estimation.html#a0c22fd10ccd121777d3b331412e4e0da">pcl::DifferenceOfNormalsEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;{</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">//perform DoN subtraction and return results</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> point_id = 0; point_id &lt; input_-&gt;points.size (); ++point_id)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_id].getNormalVector3fMap () =  (input_normals_small_-&gt;points[point_id].getNormalVector3fMap ()</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;            - input_normals_large_-&gt;points[point_id].getNormalVector3fMap ()) / 2.0;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">if</span>(!pcl_isfinite (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_id].normal_x) ||</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        !pcl_isfinite (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_id].normal_y) ||</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        !pcl_isfinite (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_id].normal_z)){</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_id].getNormalVector3fMap () = Eigen::Vector3f(0,0,0);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_id].curvature = output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_id].getNormalVector3fMap ().norm();</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;}</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_DifferenceOfNormalsEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::DifferenceOfNormalsEstimation&lt;T,NT,OutT&gt;;</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_FILTERS_DON_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_difference_of_normals_estimation_html_a0c22fd10ccd121777d3b331412e4e0da"><div class="ttname"><a href="classpcl_1_1_difference_of_normals_estimation.html#a0c22fd10ccd121777d3b331412e4e0da">pcl::DifferenceOfNormalsEstimation::computeFeature</a></div><div class="ttdeci">virtual void computeFeature(PointCloudOut &amp;output)</div><div class="ttdef"><b>Definition:</b> don.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1_difference_of_normals_estimation_html_a3743d5f97f956e213287633df3ec8adb"><div class="ttname"><a href="classpcl_1_1_difference_of_normals_estimation.html#a3743d5f97f956e213287633df3ec8adb">pcl::DifferenceOfNormalsEstimation::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdef"><b>Definition:</b> don.hpp:44</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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